Robotic Team 1 / ros_lib_indigo

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

dynamic_reconfigure/IntParameter.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_dynamic_reconfigure_IntParameter_h
garyservin 0:fd24f7ca9688 2 #define _ROS_dynamic_reconfigure_IntParameter_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace dynamic_reconfigure
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class IntParameter : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 const char* name;
garyservin 0:fd24f7ca9688 16 int32_t value;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 IntParameter():
garyservin 0:fd24f7ca9688 19 name(""),
garyservin 0:fd24f7ca9688 20 value(0)
garyservin 0:fd24f7ca9688 21 {
garyservin 0:fd24f7ca9688 22 }
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 int offset = 0;
garyservin 0:fd24f7ca9688 27 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 28 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 29 offset += 4;
garyservin 0:fd24f7ca9688 30 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 31 offset += length_name;
garyservin 0:fd24f7ca9688 32 union {
garyservin 0:fd24f7ca9688 33 int32_t real;
garyservin 0:fd24f7ca9688 34 uint32_t base;
garyservin 0:fd24f7ca9688 35 } u_value;
garyservin 0:fd24f7ca9688 36 u_value.real = this->value;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 41 offset += sizeof(this->value);
garyservin 0:fd24f7ca9688 42 return offset;
garyservin 0:fd24f7ca9688 43 }
garyservin 0:fd24f7ca9688 44
garyservin 0:fd24f7ca9688 45 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 46 {
garyservin 0:fd24f7ca9688 47 int offset = 0;
garyservin 0:fd24f7ca9688 48 uint32_t length_name;
garyservin 0:fd24f7ca9688 49 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 50 offset += 4;
garyservin 0:fd24f7ca9688 51 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 52 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 53 }
garyservin 0:fd24f7ca9688 54 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 55 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 56 offset += length_name;
garyservin 0:fd24f7ca9688 57 union {
garyservin 0:fd24f7ca9688 58 int32_t real;
garyservin 0:fd24f7ca9688 59 uint32_t base;
garyservin 0:fd24f7ca9688 60 } u_value;
garyservin 0:fd24f7ca9688 61 u_value.base = 0;
garyservin 0:fd24f7ca9688 62 u_value.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 63 u_value.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 64 u_value.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 65 u_value.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 66 this->value = u_value.real;
garyservin 0:fd24f7ca9688 67 offset += sizeof(this->value);
garyservin 0:fd24f7ca9688 68 return offset;
garyservin 0:fd24f7ca9688 69 }
garyservin 0:fd24f7ca9688 70
garyservin 0:fd24f7ca9688 71 const char * getType(){ return "dynamic_reconfigure/IntParameter"; };
garyservin 0:fd24f7ca9688 72 const char * getMD5(){ return "65fedc7a0cbfb8db035e46194a350bf1"; };
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 };
garyservin 0:fd24f7ca9688 75
garyservin 0:fd24f7ca9688 76 }
garyservin 0:fd24f7ca9688 77 #endif